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Get rid of g() and h()

release/4.3a0
dellaert 2015-05-25 18:30:40 -07:00
parent b23a51db6d
commit 4aa7225585
1 changed files with 3 additions and 5 deletions
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8
gtsam/base/Group.h
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@ -133,9 +133,6 @@ class DirectProduct: public std::pair<G, H> {
BOOST_CONCEPT_ASSERT((IsGroup<G>));
BOOST_CONCEPT_ASSERT((IsGroup<H>));
const G& g() const {return this->first;}
const H& h() const {return this->second;}
public:
/// Default constructor yields identity
DirectProduct():std::pair<G,H>(traits<G>::Identity(),traits<H>::Identity()) {}
@ -144,10 +141,11 @@ public:
DirectProduct(const G& g, const H& h):std::pair<G,H>(g,h) {}
Derived operator*(const Derived& other) const {
return Derived(traits<G>::Compose(g(),other.g()), traits<H>::Compose(h(),other.h()));
return Derived(traits<G>::Compose(this->first, other.first),
traits<H>::Compose(this->second, other.second));
}
Derived inverse() const {
return Derived(g().inverse(), h().inverse());
return Derived(this->first.inverse(), this->second.inverse());
}
};